EP1959323A3 - Elimination of unintended velocity reversals in S-curve velocity profiles - Google Patents

Elimination of unintended velocity reversals in S-curve velocity profiles Download PDF

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Publication number
EP1959323A3
EP1959323A3 EP08100984A EP08100984A EP1959323A3 EP 1959323 A3 EP1959323 A3 EP 1959323A3 EP 08100984 A EP08100984 A EP 08100984A EP 08100984 A EP08100984 A EP 08100984A EP 1959323 A3 EP1959323 A3 EP 1959323A3
Authority
EP
European Patent Office
Prior art keywords
limit
jerk
velocity
deceleration
motion profile
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP08100984A
Other languages
German (de)
French (fr)
Other versions
EP1959323B1 (en
EP1959323A2 (en
Inventor
Bohumir Sladek
Jacob Strickler Baker
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rockwell Automation Technologies Inc
Original Assignee
Rockwell Automation Technologies Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rockwell Automation Technologies Inc filed Critical Rockwell Automation Technologies Inc
Publication of EP1959323A2 publication Critical patent/EP1959323A2/en
Publication of EP1959323A3 publication Critical patent/EP1959323A3/en
Application granted granted Critical
Publication of EP1959323B1 publication Critical patent/EP1959323B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41408—Control of jerk, change of acceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49182—Tapping, overshoot after reversal, elasticity compensation

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Stepping Motors (AREA)

Abstract

A method is employed to eliminate undesired velocity reversal in a motion profile. A start speed, a start acceleration, a speed limit, an acceleration limit, a deceleration limit, an acceleration jerk limit, and a deceleration jerk limit are programmed for the motion profile. A critical jerk value needed to avoid velocity reversal associated with the motion profile is calculated. The critical jerk value is compared to the programmed deceleration jerk limit. The larger of the critical jerk value and the programmed deceleration jerk limit is set as a computed maximum deceleration jerk limit for use with the motion profile. In this manner, the computed maximum deceleration jerk limit will never be lower than the critical jerk and undesired velocity reversal is eliminated.
EP08100984.7A 2007-01-29 2008-01-28 Elimination of unintended velocity reversals in S-curve velocity profiles Active EP1959323B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US11/668,111 US7479751B2 (en) 2007-01-29 2007-01-29 Elimination of unintended velocity reversals in s-curve velocity profiles

Publications (3)

Publication Number Publication Date
EP1959323A2 EP1959323A2 (en) 2008-08-20
EP1959323A3 true EP1959323A3 (en) 2012-05-02
EP1959323B1 EP1959323B1 (en) 2013-10-23

Family

ID=39301458

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08100984.7A Active EP1959323B1 (en) 2007-01-29 2008-01-28 Elimination of unintended velocity reversals in S-curve velocity profiles

Country Status (3)

Country Link
US (1) US7479751B2 (en)
EP (1) EP1959323B1 (en)
JP (1) JP5095428B2 (en)

Families Citing this family (11)

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Publication number Priority date Publication date Assignee Title
US10423248B2 (en) 2011-10-28 2019-09-24 Wacom Co., Ltd. Touch-sensitive system with motion filtering
JP6133825B2 (en) * 2014-08-28 2017-05-24 ファナック株式会社 Numerical control device that calculates the optimum acceleration during reversal
FR3051782B1 (en) * 2016-05-24 2018-07-06 Fmc Technologies Sa DISPLACEMENT CONTROL DEVICE, ACQUISITION AND CALCULATION METHOD AND DEVICE THEREFOR, AND ARTICULATED FLUID LOADING ARM COMPRISING SAME.
TWI598168B (en) * 2016-11-03 2017-09-11 財團法人工業技術研究院 Control method for screw tap
US10469016B1 (en) * 2018-07-02 2019-11-05 Rockwell Automation Technologies, Inc. System and method for improving drive efficiency in an industrial automation system
CN110262406B (en) * 2019-05-10 2020-06-30 浙江工业大学 Turning speed optimization method and device of cutting bed
CN113031508A (en) * 2019-12-09 2021-06-25 北京精雕科技集团有限公司 Machine tool soft limiting implementation method combining position protection and speed protection
CN112327954B (en) * 2020-11-14 2021-11-26 大连理工大学 High-precision positioning method for linear motor controlled by asymmetric S-shaped speed curve
KR102491234B1 (en) * 2020-11-30 2023-01-26 한국생산기술연구원 An apparatus and method for generating sinusoidal motion profile
CN113970905B (en) * 2021-10-26 2023-07-18 广东工业大学 Arbitrary-order S-shaped curve motion planning method for high-precision motion platform control
CN114995118B (en) * 2022-07-18 2023-08-22 英孚康（浙江）工业技术有限公司 Adaptive jump S-shaped speed curve planning method for restraining overshoot and reversal

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5832188A (en) * 1995-10-10 1998-11-03 Siemens Aktiengesellschaft Clock-synchronized motion control in discrete-time sampling systems
JPH10297873A (en) * 1997-04-24 1998-11-10 Meidensha Corp Controller of crane
US6300738B1 (en) * 1999-09-30 2001-10-09 Rockwell Automation Technologies, Inc. Method and apparatus for generating reference values for a motion control loop in an industrial control system
US20010056324A1 (en) * 2000-04-14 2001-12-27 Hiroshi Miyazawa Motor velocity and acceleration determining method, acceleration/deceleration generating method, acceleration/deceleration controlling method, acceleration/deceleration controlling apparatus and motor controlling apparatus
WO2006102517A2 (en) * 2005-03-23 2006-09-28 Hurco Companies, Inc. Method of tolerance-based trajectory planning and control

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US4769583A (en) 1987-05-01 1988-09-06 General Motors Corporation Motion control system with minimum time path generation
US4761595A (en) 1987-05-01 1988-08-02 General Motors Corporation Motion control system having adaptive feedforward path tracking
JP2808119B2 (en) * 1988-07-28 1998-10-08 ファナック株式会社 Acceleration / deceleration control method
US5144211A (en) * 1989-01-31 1992-09-01 Staubli International Ag Multiaxis robot controller having workpoint torque control
JP2657561B2 (en) * 1990-02-09 1997-09-24 富士通株式会社 Positioning control method
US5331264A (en) * 1993-04-15 1994-07-19 Fanuc Robotics North America, Inc. Method and device for generating an input command for a motion control system
JPH115674A (en) * 1997-06-13 1999-01-12 Nippon Otis Elevator Co Jerk compensating method of elevator
JP4334093B2 (en) * 1999-12-13 2009-09-16 東洋電機製造株式会社 S-curve acceleration / deceleration pattern generator
US7158900B2 (en) 2002-01-07 2007-01-02 Siemens Energy & Automation, Inc. Pulse output function for programmable logic controller
US6873490B2 (en) * 2002-10-10 2005-03-29 Seagate Technology Llc Control object positioning using jerk, current and time optimized control profiles
JP2004137702A (en) * 2002-10-16 2004-05-13 Kobelco Contstruction Machinery Ltd Actuator controller of working machine
TWI261410B (en) * 2004-04-02 2006-09-01 Delta Electronics Inc Velocity or position S-type smooth commands generating method and means thereof
JP2007086904A (en) * 2005-09-20 2007-04-05 Brother Ind Ltd Acceleration trajectory generation device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5832188A (en) * 1995-10-10 1998-11-03 Siemens Aktiengesellschaft Clock-synchronized motion control in discrete-time sampling systems
JPH10297873A (en) * 1997-04-24 1998-11-10 Meidensha Corp Controller of crane
US6300738B1 (en) * 1999-09-30 2001-10-09 Rockwell Automation Technologies, Inc. Method and apparatus for generating reference values for a motion control loop in an industrial control system
US20010056324A1 (en) * 2000-04-14 2001-12-27 Hiroshi Miyazawa Motor velocity and acceleration determining method, acceleration/deceleration generating method, acceleration/deceleration controlling method, acceleration/deceleration controlling apparatus and motor controlling apparatus
WO2006102517A2 (en) * 2005-03-23 2006-09-28 Hurco Companies, Inc. Method of tolerance-based trajectory planning and control

Also Published As

Publication number Publication date
JP2008199883A (en) 2008-08-28
EP1959323B1 (en) 2013-10-23
JP5095428B2 (en) 2012-12-12
EP1959323A2 (en) 2008-08-20
US20080180045A1 (en) 2008-07-31
US7479751B2 (en) 2009-01-20

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